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<div class="title">test_actuatorModel.cpp File Reference</div>  </div>
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<p>Test the actuator model of the mini cheetah and cheetah 3 robots.  
<a href="#details">More...</a></p>
<div class="textblock"><code>#include &quot;<a class="el" href="../../db/dbb/_actuator_model_8h_source.html">Dynamics/ActuatorModel.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="../../d6/dce/_cheetah3_8h_source.html">Dynamics/Cheetah3.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="../../d8/db6/_mini_cheetah_8h_source.html">Dynamics/MiniCheetah.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Dynamics/Quadruped.h</a>&quot;</code><br />
<code>#include &quot;gmock/gmock.h&quot;</code><br />
<code>#include &quot;gtest/gtest.h&quot;</code><br />
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Functions</h2></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Test the actuator model of the mini cheetah and cheetah 3 robots. </p>

<p>Definition in file <a class="el" href="../../d9/d56/test__actuator_model_8cpp_source.html">test_actuatorModel.cpp</a>.</p>
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          <td class="paramname">, </td>
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          <td class="paramtype">miniCheetah&#160;</td>
          <td class="paramname">&#160;</td>
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<p>Definition at line <a class="el" href="../../d9/d56/test__actuator_model_8cpp_source.html#l00015">15</a> of file <a class="el" href="../../d9/d56/test__actuator_model_8cpp_source.html">test_actuatorModel.cpp</a>.</p>

<p>References <a class="el" href="../../da/dfc/_quadruped_8cpp_source.html#l00225">Quadruped&lt; T &gt;::buildActuatorModels()</a>, and <a class="el" href="../../de/df0/utilities_8h_source.html#l00015">fpEqual()</a>.</p>
<div class="fragment"><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;                                 {</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <a class="code" href="../../dc/d66/class_quadruped.html">Quadruped&lt;double&gt;</a> quad = buildMiniCheetah&lt;double&gt;();</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <span class="keyword">auto</span> actuatorModels = quad.<a class="code" href="../../dc/d66/class_quadruped.html#a44aa07cf91c50c3d0e78821ccc620ccc">buildActuatorModels</a>();</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="keyword">auto</span>&amp; hipModel = actuatorModels[1];</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <span class="comment">// first, disable friction</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  hipModel.setFriction(<span class="keyword">false</span>);</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <span class="keywordtype">double</span> tauMaxPositive = 0, tauMaxNegative = 0;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <span class="keywordtype">double</span> maxQdMaxTorque = 0, qdMax = 0;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <span class="comment">// check our max torque in the positive direction:</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">double</span> tau = 0; tau &lt; 200; tau += .1) {</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <span class="keywordtype">double</span> tauAct = hipModel.getTorque(tau, 0);</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(tau, tauAct, .0001)) {</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;      tauMaxPositive = tauAct;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    }</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  }</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">double</span> tau = 0; tau &gt; -200; tau -= .1) {</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <span class="keywordtype">double</span> tauAct = hipModel.getTorque(tau, 0);</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(tau, tauAct, .0001)) {</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;      tauMaxNegative = tauAct;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    }</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  }</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">double</span> qd = 0; qd &lt; 40; qd += .01) {</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keywordtype">double</span> tauAct = hipModel.getTorque(18, qd);</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(18., tauAct, .0001)) {</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;      maxQdMaxTorque = qd;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    }</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  }</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">double</span> qd = 0; qd &lt; 60; qd += .01) {</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keywordtype">double</span> tauAct = hipModel.getTorque(18, qd);</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keywordflow">if</span> (tauAct &lt;= 0) {</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      qdMax = qd;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    }</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  }</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(tauMaxPositive, 18., .0001));</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(tauMaxNegative, -18., .0001));</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(maxQdMaxTorque, 28.47, .02));</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(qdMax, 40., .0001));</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;}</div><div class="ttc" id="utilities_8h_html_a16ea9aab4737c2622bc370d6a8613d63"><div class="ttname"><a href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a></div><div class="ttdeci">bool fpEqual(T a, T b, T tol)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/df0/utilities_8h_source.html#l00015">utilities.h:15</a></div></div>
<div class="ttc" id="class_quadruped_html"><div class="ttname"><a href="../../dc/d66/class_quadruped.html">Quadruped&lt; double &gt;</a></div></div>
<div class="ttc" id="class_quadruped_html_a44aa07cf91c50c3d0e78821ccc620ccc"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a44aa07cf91c50c3d0e78821ccc620ccc">Quadruped::buildActuatorModels</a></div><div class="ttdeci">std::vector&lt; ActuatorModel&lt; T &gt; &gt; buildActuatorModels()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/dfc/_quadruped_8cpp_source.html#l00225">Quadruped.cpp:225</a></div></div>
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          <td class="paramname">, </td>
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<p>Definition at line <a class="el" href="../../d9/d56/test__actuator_model_8cpp_source.html#l00065">65</a> of file <a class="el" href="../../d9/d56/test__actuator_model_8cpp_source.html">test_actuatorModel.cpp</a>.</p>

<p>References <a class="el" href="../../da/dfc/_quadruped_8cpp_source.html#l00225">Quadruped&lt; T &gt;::buildActuatorModels()</a>, and <a class="el" href="../../de/df0/utilities_8h_source.html#l00015">fpEqual()</a>.</p>
<div class="fragment"><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;                              {</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <a class="code" href="../../dc/d66/class_quadruped.html">Quadruped&lt;double&gt;</a> quad = buildCheetah3&lt;double&gt;();</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keyword">auto</span> actuatorModels = quad.<a class="code" href="../../dc/d66/class_quadruped.html#a44aa07cf91c50c3d0e78821ccc620ccc">buildActuatorModels</a>();</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keyword">auto</span>&amp; hipModel = actuatorModels[1];</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="comment">// first, disable friction</span></div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  hipModel.setFriction(<span class="keyword">false</span>);</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordtype">double</span> tauMaxPositive = 0, tauMaxNegative = 0;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordtype">double</span> maxQdMaxTorque = 0, qdMax = 0;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="comment">// check our max torque in the positive direction:</span></div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">double</span> tau = 0; tau &lt; 300; tau += .1) {</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordtype">double</span> tauAct = hipModel.getTorque(tau, 0);</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(tau, tauAct, .0001)) {</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      tauMaxPositive = tauAct;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    }</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  }</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">double</span> tau = 0; tau &gt; -300; tau -= .1) {</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keywordtype">double</span> tauAct = hipModel.getTorque(tau, 0);</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(tau, tauAct, .0001)) {</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      tauMaxNegative = tauAct;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    }</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  }</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">double</span> qd = 0; qd &lt; 40; qd += .01) {</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keywordtype">double</span> tauAct = hipModel.getTorque(208, qd);</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(208., tauAct, .0001)) {</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      maxQdMaxTorque = qd;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    }</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  }</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">double</span> qd = 0; qd &lt; 60; qd += .01) {</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keywordtype">double</span> tauAct = hipModel.getTorque(208, qd);</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keywordflow">if</span> (tauAct &lt;= 0) {</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      qdMax = qd;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    }</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  }</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(tauMaxPositive, 208.6, .1));</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(tauMaxNegative, -208.6, .1));</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(maxQdMaxTorque, 8.44, .02));</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(qdMax, 15.94, .1));</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;}<div class="ttc" id="utilities_8h_html_a16ea9aab4737c2622bc370d6a8613d63"><div class="ttname"><a href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a></div><div class="ttdeci">bool fpEqual(T a, T b, T tol)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/df0/utilities_8h_source.html#l00015">utilities.h:15</a></div></div>
<div class="ttc" id="class_quadruped_html"><div class="ttname"><a href="../../dc/d66/class_quadruped.html">Quadruped&lt; double &gt;</a></div></div>
<div class="ttc" id="class_quadruped_html_a44aa07cf91c50c3d0e78821ccc620ccc"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a44aa07cf91c50c3d0e78821ccc620ccc">Quadruped::buildActuatorModels</a></div><div class="ttdeci">std::vector&lt; ActuatorModel&lt; T &gt; &gt; buildActuatorModels()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/dfc/_quadruped_8cpp_source.html#l00225">Quadruped.cpp:225</a></div></div>
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